Swarm obstacle and collision avoidance using descriptor functions

The descriptor function framework is used as tool for the control management of a swarm of dynamic agents. In this framework, a provision is made for obstacle and collision avoidance, thus improving the potential of the methodology from previous results. Obstacle and collision avoidance terms are added to the overall mission performance index, and the resulting control law moves the agents along obstacle and collision free trajectories. The analytical derivation is validated via numerical simulations.